// Copyright (c) 2012, Hazen Eckert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the The University of Texas at Dallas nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE UNIVERSITY OF TEXAS AT DALLAS BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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#ifndef _passive_sonar_driver_node_H
#define _passive_sonar_driver_node_H

#include <ros/ros.h>
#include <auv_driver_common/auv_driver_node.h>
#include <auv_passive_sonar_driver/passive_sonar_driver.h>
#include <auv_passive_sonar_driver/passive_sonar_driver_node.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <dynamic_reconfigure/server.h>
#include <auv_passive_sonar_driver/auvConfig.h>
#include <auv_msgs/PassiveSonar.h>


class passive_sonar_driver_node : public auv_driver_node {
public:
    passive_sonar_driver_node(ros::NodeHandle h);
    ~passive_sonar_driver_node();
    void reconfigureCallback(auv_passive_sonar_driver::auvConfig &config, uint32_t level);
    void spin();
    
private:
    dynamic_reconfigure::Server<auv_passive_sonar_driver::auvConfig> server;
    ros::Publisher psonar_pub;
    bool psonarMode;
    double hydrophone_0_x, hydrophone_0_y;
    double hydrophone_1_x, hydrophone_1_y;
    double hydrophone_2_x, hydrophone_2_y;
    int SAMPLE_FREQUENCY, SPEED_OF_SOUND;
    
};

#endif
